The experiment in this section will be carried out on Openlane, and the evaluation metrics is still based on Gen-Lanenet[1]}. We put \(0.2 \times 0.2\)\(m^2\)  per grid cell, VRM[2]} to do spatial transformation, and without Virtual Camera method as the baseline. We prove the effectiveness of our methods by adding three methods: Virtual Camera(VC), Spatial Transformation Pyramid(STP), and YOLO-Style Representation(YSR) on Table. REF .
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